Apparatus and method for robot handling control

ABSTRACT

A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

This is a Divisional application based on application Ser. No.10/694,116 filed Oct. 27, 2003, the entire disclosure of which isincorporated herein by reference.

FIELD OF THE INVENTION

This invention relates to an apparatus and method for robot handlingcontrol that, when a force is externally applied to an object beinggrasped by the robot, typically in the case an object-of-grasp is to betaken out by the force of a person, recognition is made on the factthereof so that a grasp force of the robot grasp means can be placedunder control in a manner releasing the robot grasp means.

BACKGROUND OF THE INVENTION

Today, it is utilized in quite various fields to make a robot grasp anobject and perform any working operation, e.g. grasping and transportingparts on the auto product assembling line in the factory, andtransporting/controlling inventories in the automated warehouse. Thereare examples in the limitless number.

For such an industrial robot, one of the important technologies soughtfor grasping lies in an art for placing the grasp force under control inorder to prevent the object being grasped from falling down. Forexample, JP-A-4-189484 describes a structure having an end effecterprovided, at its finger end, with a sensor for detecting a slide of thegrasped object wherein, when a slide of the object of grasping isdetected by the sensor, finger grasp force is increased a predeterminedamount by a grasp-force control apparatus, thereby enabling topositively grasp the grasped object without falling by a minimum graspforce.

The prior-art grasp control technologies as in the above are mainly forindustrial applications. These are the arts necessitated for correctlyperforming the operations to grasp and move an object and then releaseit, in accordance with a previously determined program.

Meanwhile, recently, humanoid-type robots have been developed vigorouslytoward the goal of assisting human life while coexisting with mankind.The humanoid-type robot has one of the major developmental objects toexplore the possibility of coexistence with mankind. This is one of thesignificant differences from the traditional industrial robots.

The coexistence with mankind inevitably requires the realization ofinteraction with a person. This necessitates the functions to berealized in a hardware fashion in addition to the functions realizableon software, such as personal recognition and speech dialogue. Thehardware-like interaction function includes those of functions to shakehands and exchange a grasped object with a person.

However, there is a difficulty in applying, as an example of robot-humaninteraction, the technology described in JP-A-4-189484 to thegrasp-force control of an end effecter for delivering an object beinggrasped by the robot over to a person. This is because, in case theperson is to take out an object being grasped by the robot, the robot iscontrolled toward the stronger grasping not to be deprived of thegrasped object. Accordingly, in some cases, there are possibly problemsof breaking the grasped object.

Meanwhile, the conventional humanoid-type has the function to grasp anobject. However, concerning the function of delivering a grasped objectfrom the robot over to the person, there has been realized nothing morethan a quite simple method not requiring real-time control ofgrasp-force. For example, adopted is a method that an end effecterimitating the human hand turns its palm up, and the grasp is released sothat a grasped object is placed on the palm, allowing a person to takeit up, making a state in which the grasped object can be taken upanytime. Thus, there is no hardware-like interaction function with aperson.

SUMMARY OF THE INVENTION

It is an object of the present invention to realize placing an endeffecter under control as if an object were handed over between personsby carrying out a real-time control on a grasp force upon delivering agrasped object from the robot to a person, as one of the hardwarecontrol technologies for realizing to make a real interaction between aperson and a robot as if between persons.

Meanwhile, it is another object of the invention to provide an apparatusand method for robot handling control that, in a case an external forceis applied to an object being grasped by an end effecter, this externalforce can be distinguished whether it is a force caused upon taking outthe object by a person or a force caused by the other.

An apparatus for robot handling control of the present inventionincludes an end effecter for grasping an object, a force sensor fordetecting a force acting upon the end effecter, and a grasp-forcecontrol unit for outputting a signal for releasing a force of the endeffecter grasping the object in a case there is a change in the forceacting upon the end effecter in a state in which the end effecter graspsthe object. When a person takes out an object being grasped by therobot, taking out is possible as if the object were handed over betweenpersons.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a configuration of an apparatus forrobot handling control according to embodiment 1 of the presentinvention;

FIG. 2 is a concept figure showing a method of computing an externalforce to be applied to an object by gravity compensating means accordingto embodiment 1 of the invention;

FIG. 3 is a figure showing a memory content according to embodiment 1 ofthe invention;

FIGS. 4A and 4B are each a sectional plan view showing a sensorstructure arranged on an end effecter according to embodiment 1 of theinvention;

FIG. 5A is a perspective view showing a state that contacted with a wallis the robot-grasp control apparatus grasping an object according toembodiment 1 of the invention;

FIG. 5B is a fragmentary plan view of FIG. 5A;

FIG. 6 is a flowchart explaining the grasp operation of the end effecterof the robot-grasp control apparatus according to embodiment 1 of theinvention;

FIG. 7 is a flowchart explaining the grasp operation of the endeffecter, in the case of using an external reactive force, of therobot-grasp control apparatus according to embodiment 1 of theinvention;

FIG. 8 is a flowchart explaining the grasp operation of the end effecterof the robot-grasp control apparatus according to embodiment 2 of theinvention; and

FIG. 9 is a side view showing a structure of an apparatus for robothandling control according to embodiment 3 of the invention.

DESCRIPTION OF THE EXEMPLARY EMBODIMENT

Exemplary embodiments of the present invention are demonstratedhereinafter with reference to the accompanying drawings.

1. First Exemplary Embodiment

FIG. 1 is a block diagram showing a configuration of a robot-graspcontrol apparatus of the present invention. In FIG. 1, a robot arm 101is the arm of a robot. An end effecter 102 has a mechanism attached onthe robot arm 101 in order to grasp an object. The robot arm 101 isarranged with a joint-angle sensor 112 while the end effecter 102 isarranged with a force sensor 103.

The force sensor 103, a sensor for detecting a force applied thereto, isarranged on the end effecter 102, to detect an external force applied tothe end effecter 102. Various kinds of sensors can be used for the forcesensor 103. For example, it may use a strain amount detector based on astrain gauge, a torque detector, a sliding-friction detector, or thelike.

The joint-angle sensor 112 is for detecting a rotation angle at a jointof the robot arm 101. Typically, it is a detector on absolute angle orrelative angle based on an optical rotary encoder. The rotary encoder isconstructed with rotary and fixed plates having slits, a light-receivingelement, a light-emitting element, and so on. During rotation of therotary plate, light is allowed to pass through the slits of the rotaryand fixed plates so that the pulses thereof can be counted to compute arotation angle.

A gravity compensating section 104 is for removing from a force detectedby the force sensor 103 a gravity component acted upon the graspedobject, an inertial force, centrifugal force and Coriolis force causeddue to movement of the robot arm 101, and the like. This makes itpossible to compute a true external force applied to an object when aperson takes out the object.

A sensor-value variate measuring section 105 is for measuring a value onthe force sensor 103 or joint angle sensor 112 at a predeterminedinterval of time.

An object-grasp determining section 106 is for determining whether ornot the end effecter 102 is grasping an object. This is arranged at theinner surface of the end effecter 102 so that, when the end effecter 102grasps an object, the object-grasp determining section 106 can be placedin contact with the object. The object-grasp determining section 106uses, for example, a pressure-perceiving sensor for measuring acontact-pressure distribution on the contact surface between the endeffecter 102 and the object, or an optical sensor provided on the innersurface of the end effecter 102. The optical sensor can be constitutedby the use of one set or a plurality of sets of light-emitting elementshaving infrared LEDs as light sources and light-receiving elements suchas photodiodes.

Note that, even in the case of using any type of sensor as theobject-grasp determining section 106, attention should be naturally paidnot to cause interference in its arrangement with the force sensor 103.

FIG. 4A is a figure showing pressure-perceiving sensors 401 arranged onthe both inner surfaces of the end effecter 102. FIG. 4B is a figurethat three sets of light-emitting elements 402 and light-receivingelements 403 are arranged as optical sensors in the inner surfaces ofthe end effecter 102. Note that the pressure-perceptive sensors 401 inFIG. 4A may be arranged in one surface.

A grasp-release determining section 107 determines whether the graspforce of the end effecter 102 should be weaken or not, from the twostatuses, i.e. a presence or absence of information about a sensor-valuechange due to the force sensor 103 in a measurement result in thesensor-value variate measuring section 105, and a presence or absence ofgrasping an object by the end effecter 102 in the object-graspdetermining section 106. In the case of weakening it, the grasp-releasedetermining section 107 forwards a signal for releasing the grasp forceto a grasp-force control section 108 hereinafter explained.

The grasp-force control section 108 receives signals from thegrasp-release determining section 107, gravity compensating section 104and the release-instruction recognizing section 109, and outputs asignal for controlling the grasp force of the end effecter 102 inaccordance with the contents of these signals.

A release-instruction recognizing section 109, for recognizing anexternal instruction for releasing the end effecter 102, uses a mike anda speech recognition program, for example. Namely, in case a persongives an utterance having a content for releasing the end effecter 102,e.g. “Release Hand” or so to the mike set up on the robot, the speechrecognition program analyzes the meaning of text and determines that thespeaking person requests to release the end effecter 102. Therelease-instruction signal for releasing the same is sent to the armcontrol section 111, hereinafter referred, and the grasp-force controlsection 108.

Incidentally, determining a release instruction may be by anarrangement, for example, of a physical switch for releasing the endeffecter 102 on the robot, instead of the mike and the speechrecognition program.

When recognizing that there is an external request for releasing the endeffecter 102, the release-instruction recognizing section 109 decreasesa feedback gain value for controlling a finder position of the robot arm101. This can make a process to reduce the rigidity at the joints of therobot arm 101. Thereafter, the information notifying the same fact issent to the alarm unit 110.

The alarm unit 110 issues an alarm prompting the external to call anattention, in the case that the grasp-force control section 108 is torelease the end effecter 102 or the sensor-value variate measuringsection 105 has measured a variate exceeding a threshold of thejoint-angle sensor 112. The alarm may be changed in content dependingupon the situation. The alarm uses audible means such as sound or voice,visible means such as LED flashing, or means hybridizing those.

The arm control section 111 receives a feedback signal of joint anglefrom the joint-angle sensor 112, and provides a command to an actuator,such as a motor, for driving the joints of the robot arm 101. Thisplaces under control the position of the end effecter 102 attached onthe robot arm 101 as well as the force to be applied to the robot arm101.

The grasp unit 113 structurally includes the robot arm 101, the endeffecter 102, the joint-angle sensor 112, the force sensor 103 and thearm control section 111, to detect an external force acted on themechanism of grasping an object and a grasped object. In the case tograsp an object, when controlling the grip unit 113, the robot arm 101is placed under control to guide the end effecter 102 to a position forgrasping the object and then the end effecter 102 grasps the object,similarly to human motion.

A grasp-object external force deducing unit 114 structurally includesgravity compensating part 104 and sensor-value variate measuring means105. In the case there is a change in the force acting upon the objectbeing held by the grasp unit 113, the grasp-object external forcededucing unit 114 deduces a factor which caused the force change. In adeduction by the grasp-object external force deducing unit 114, when anexternal force acts upon an object grasped by the end effecter 102, theexternal force is distinguished whether it is a force caused upon beingtaken out by a person or a force resulting from the other cause.

FIG. 2 is a figure showing a method for the gravity compensating section104 to compute an external force to be applied to an object. Theequation for computation can be derived as in the following.

Provided herein, as shown in FIG. 2, that Σ₀ is the reference coordinatesystem, Σ_(r) is the coordinate system fixed at the finger of the robotarm 101, f_(s) as a six-dimensional vector is the detection value of theforce sensor 103 (force applied by the object to the finger of the robotarm 101), f_(h) as a six-dimensional vector is the force applied by aperson to the object, f_(g) as a six-dimensional vector is the resultantforce of f_(s) and f_(h) at an object center of gravity, then theequation of motion for the object can be expressed by Equation 1.

M{dot over (v)}+h=f _(g)  Equation 1

Herein, M, V and h in Equation 1 are expressed respectively by Equations2, 3 and 5 while T_(g) in Equation 3 is by Equation 4.

$\begin{matrix}{M = \begin{bmatrix}{mE}_{3} & O_{3} \\O_{3} & I\end{bmatrix}} & {{Equation}\mspace{20mu} 2} \\{v = {\begin{bmatrix}{\overset{.}{p}}_{g}^{T} & \omega^{T}\end{bmatrix}^{T} = {T_{g}J\; \overset{.}{q}}}} & {{Equation}\mspace{20mu} 3} \\{T_{g} = \begin{bmatrix}E_{3} & {- \lbrack {{{}_{}^{}{}_{}^{}}{{}_{}^{}{}_{}^{}} \times} \rbrack} \\O_{3} & E_{3}\end{bmatrix}} & {{Equation}\mspace{20mu} 4} \\{h = \begin{bmatrix}{m\begin{bmatrix}0 & 0 & {- g}\end{bmatrix}}^{T} \\{\omega \times I\; \omega}\end{bmatrix}} & {{Equation}\mspace{20mu} 5}\end{matrix}$

In Equations 1 to 5, m is the mass of the object, I is the inertialtensor at a center-of-gravity point of the object, p_(g) is thecenter-of-gravity position of the object, ω is the angular velocityabout the center of gravity of the object, q is the joint variablevector of the robot arm 101, J is the Jacobian matrix on the robot arm101, R_(r) is the rotation matrix of from Σ₀ to Σ_(r), ^(r)l_(g) is thecenter-of-gravity position as seen from Σ_(r), and g is the accelerationof gravity.

Meanwhile, concerning the force acting upon the object, a balanceequation in Equation 6 is held. Herein, T_(g) is expressed by Equation 7wherein ^(r)l_(h) is the position of a point of application of theexternal force as seen from Σ_(r).

$\begin{matrix}{f_{s} = {{T_{g}^{T}f_{g}} + {T_{h}^{T}f_{h}}}} & {{Equation}\mspace{20mu} 6} \\{T_{h} = \begin{bmatrix}E_{3} & {- \lbrack {{{}_{}^{}{}_{}^{}}{{}_{}^{}{}_{}^{}} \times} \rbrack} \\O_{3} & E_{3}\end{bmatrix}} & {{Equation}\mspace{20mu} 7}\end{matrix}$

From the above equation of motion and the computation equation of forcebalance, it is possible to express by Equation 8 a component F of anexternal force removed of a gravity, an inertial force, a centrifugalforce and a Coriolis force from a detection value of the force sensor103.

F=T _(h) ^(T) f _(h) =f _(s) −T _(g) ^(T) f _(g)  Equation 8

In the distinguishing process to be made in the grasp-object externalforce deducing unit 114, i.e. process of distinguishing whether anexternal force acted upon an object grasped by the end effecter 102 is aforce caused in taking away the object by a person or a force resultingfrom the other cause, there is one method to effect it by the use of acomputation result in the gravity compensating section 104.

Namely, in the case that the compensated value by the above computationequations in the gravity compensating section 104 nearly agrees with thedirection of gravity, the grasped object is ready to be falling.Accordingly, it is determined that a frictional force agreeing with thedirection of gravity has acted upon. The end effecter 102 is halted frombeing released, to output a signal for increasing the grasp force to thegrasp-release determining section 107.

Meanwhile, the other force is detected, it is determined that a personhas grasped, to output a signal for releasing the end effecter 102 tothe grasp-release determining section 107.

The sensor-value variate measuring section 105 makes a measurement onvalues of the force sensor 103 and joint-angle sensor 112 at apredetermined interval of time. Concerning the force sensor 103,inputted is a value of force removed, by the gravity compensatingsection 104, of a gravity, inertial force and Coriolis force applied tothe grasped object.

Herein, the end effecter 102 of this embodiment is placed under controldepending upon a change amount in value of the force sensor 103 orjoint-angle sensor 112. However, in case a sensor value variate iscomputed only with a difference in minimum unit time of process, whenthe force externally applied to the object grasped by the end effecter102 is strengthened quite slowly, the change in value of the forcesensor 103 is excessively small. Thus, there is possibly a case thatgrasp release is not placed under control. For this reason, in thisembodiment, the input values from the force sensor 103 are stored,retroactively to a predetermined past time, together with time data to amemory.

FIG. 3 shows time-based values of the force sensor 103 and joint-anglesensor 112 stored in the memory, in a table form, wherein t is time andt(0) is the present time. P is a value in time of the force sensor whileD is a value of the joint-angle sensor 112. Meanwhile, as the number inthe parentheses increases, time is further retroactive to the past. Incase sensor values are stored retroactively to the past, even when theforce applied to the object grasped by the end effecter 102 isstrengthened quite slowly, it is possible to compute a change amountbetween a force value at the present time and a force value obtainedretroactively to the past. Due to this, grasp release can be placedunder control.

In this manner, in the case of detecting within a predetermined time avalue exceeding an allowable amount in sensor value change independentlyset on the force sensor 103 and joint angle sensor 112, it is possibleto send the grasp-release determining section 107 and alarm unit 110,hereinafter explained, with information about in which sensor the valuechange has occurred.

Now, explanation is made in detail on the grasp control process of theend effecter 102 according to the robot grasp control apparatusconfigured as in the above.

In grasp control based on the end effecter of this embodiment, the forcesensor 103 is arranged at a joint of the robot arm 101 or the like sothat the force sensor 103 can detect a force externally applied to agrasped object. When the grasped object is released, determination ismade as to whether the external force is by a person or not, from anextracted value change of the force sensor 103.

At first, explanation is made on a method by which, in the case ofreleasing the end effecter grasp force by an external force to therebyrelease the grasped object, determination is made, from a moving stateof the object, as to whether the external force is caused by a person ornot.

FIGS. 5A and 5B shows a case of detecting a value change of the forcesensor 103 in the other situation than that in which the grasped objectis taken out by a person. FIG. 5A shows a state in which a robotgrasping a columned object 501 in its end effecter 102 moves toward awall 502 and the object 501 is in contact with the wall 502. FIG. 5B isa plan view of the end effecter of FIG. 5A as viewed from the above.

As can be understood from FIGS. 5A and 5B, the robot arm 101 in theentire moves in a direction of arrow M toward the wall 502 whereas theobject 501 is in abutment against the wall 502. Consequently, apressure-perceiving sensor 401 as a force sensor 103 arranged in the endeffecter 102 detects an external force F undergone from the wall 502 dueto hitting of the object 501 on the wall 502.

From the force F undergone from the wall F, determination is made as towhether the external force F is by a person or not, depending upon aresult of measurement on how the object 501 departs from the endeffecter 102 when releasing the object 501 from the end effecter 102.Namely, utilized is the physical phenomenon that, in case the externalforce F is not by a person, the object 501 is liable to fall undergravity as the grasp force of the end effecter 102 is relaxedfurthermore.

FIG. 6 is a flowchart showing a grasp control process of the endeffecter 102 using an object moving state, according to the presentembodiment.

At S201, the object-grasp determining section 106 determines a presenceor absence of grasping an object 501 in the end effecter 102. In casethe end effecter 102 is not grasping an object 501, there is no need torelease the end effecter 102 and accordingly the process is endedimmediately. Meanwhile, when the end effecter 102 is grasping theobject, the process proceeds to a process of S202.

At S202, the external force, such as gravity, an inertial force, andCoriolis force, applied to the object 501 is removed depending upon thedata, such as a mass, of the object 501 by the gravity compensatingmeans 104. The force sensor 103 sends only a force component F, which isexternally applied by a person or so, to the sensor-value variatemeasuring section 105.

Next, at S203, the sensor-value variate measuring section 105 writes thesent value of the force sensor 103 together with a time to the memory,as shown in FIG. 3.

At S204, reference is made to the memory, to examine a minimum value ofthe force sensor 103 values from the present time over to apredetermined past. In the case that the change value between theminimum value and the present value is equal to or greater than apredetermined threshold, the information about a change present in thevalues of force sensor 103 is sent to the grasp-release determiningsection 107. When the change amount is equal to or smaller than thethreshold, there is no need to release the end effecter 102 andaccordingly the process is immediately ended.

At S205, receiving the information there is a change in the values offorce sensor 103 from the sensor-value variate measuring section 105,the grasp-release determining section 107 forwards a grasp-forcereleasing signal, a signal instructing to release the grasp force, tothe grasp-force control section 108. Receiving the signal for releasingthe grasp force, the grasp-force control section 108 first sends thealarm unit 110 with a signal to make an alarm. Receiving this, the alarmunit 110 issues an alarm, e.g. “Release Hand”, by the use of a voice orcharacter display. Subsequently, released is the grasp force of the endeffecter 102.

Next, at S206, in case the robot force sensor 103 detects a force F, theend effecter 102 is started releasing. Thereupon, weakened is thefrictional force resulting from the contact between the object graspedby the end effecter 102 and the end effecter 102. In case the graspforce is continued to be weakened as it is, the gravity acting upon theobject 501 exceeds the frictional force at a time point that the graspforce is weakened to a certain degree. The object 501 is about to slideon the end effecter 102 to be fallen vertically. In this state, i.e. inthe case that the grasp force of the end effecter 102 is started to beweakened and thereafter the force sensor 103 further detects a downwardforce, the force applied to the object 501 is determined due to thegravity and the process moves to S207. In the other cases, the processis ended.

At S207, the grasp-force control section 108 outputs to the end effecter102 a grasp-force strengthening signal for increasing the strength toprevent the object 501 from falling.

As in the above, the end effecter 102 can be placed under control by theuse of the object 501 in a moving state.

Now, explanation is made on a discriminating process to be carried outin the grasp-object external force deducing unit 114, i.e. process ofdiscriminating whether an external force applied to the object 501grasped by the robot is a force caused to take out the object 501 by aperson or a force resulting from the other.

At first, when the robot force sensor 103 detects an external force F, aforce in the opposite direction to the external force F is somewhatapplied. In the case of detecting a reactive force to that force, theexternal force is determined to be caused by a person. In this case,processing is made to follow a natural action in handing an object overbetween persons. Namely, when a person in a blind state is to deliver anobject, typically he or she once lightly draws it back and makes surethat the opposite person is positively grasping the object on the basisof a presence or absence of a reactive force to that. The robot is madeto perform the same process as this. Herein, the opposite directionalforce is not necessarily quite opposite in direction but may be a forcehaving a component in the opposite direction.

FIG. 7 is a flowchart showing a process flow in the robot-grasp controlapparatus using an external reactive force, according to the presentembodiment. The processes of from S301 to S304 as similar to theprocesses of S201 to S204 of the FIG. 6 flowchart, and hence omitted ofexplanation.

At step S305, in case the robot force sensor 103 detects an externalreactive force in the process of S304, the robot arm 101 is placed undercontrol in a manner of applying a different force from the force Freceived at the force sensor 103. Herein, the different force usestypically a reactive force opposite in direction to a force received.The opposite direction is not necessarily perfectly opposite indirection.

At S306, computation is made for the process of S305 by the gravitycompensating means 104 as to whether or not the force sensor 103 detectsa reactive force to the force F applied to the robot arm 101.

At S307, in case detected at S306 is a reactive force to the forceintentionally applied by the robot arm 101, it is determined that theobject 501 being grasped by the end effecter 102 is about to be graspedfrom the external, and the process moves to S309. Meanwhile, when areactive force is not detected in S307, immediately removed at S308 isthe force intentionally applied in the process of S306 by the robot arm101, to end the process.

At S309, the gravity compensating section 104 forwards a signal forrelaxing the grasp force to the grasp-force control section 108. Thegrasp-force control section 108, upon receiving the signal, first sendsthe alarm unit 110 with a signal to make an alarm. Receiving this, thealarm unit 110 issues an alarm, e.g. “Release Hand”, by the use of avoice or character display. Subsequently, released is the grasp force ofthe end effecter 102, to end the process.

When the robot is actually operating, the FIGS. 6 and 7 flowcharts arenot satisfactorily processed once but always processed at apredetermined unit time interval. This is because it is unknown for therobot at what time point the grasped object 501 is taken out. The unittime may be determined depending upon a situation because it relies uponthe situation in which the robot introduced with the present process isto be used. For example, for a robot made for communications with thehuman being, if it is assumed that the object held by the robot be takenout by a person, the unit time should apparently be given shorter than atime required for a person to grasp and begin pulling the object.

As in the above, when the end effecter 102 grasps the object 501 tothereby cause a change in the force acting upon the end effecter 102detected by the force sensor 103, the end effecter 102 releases thegrasp force according to a grasp-force releasing signal outputted fromthe grasp-force control section 108. Thereafter, in case the forcesensor 103 detects a dynamic frictional force in the gravity directioncaused by a fall movement of the object 501, the grasp force isstrengthened.

On the other hand, when the force acting on the end effecter 102 ischanged, the robot arm 101 including a plurality of joints and attachedwith the end effecter 102 applies a force in at least one directiondifferent from the direction the force is acting. After the robot arm101 moves at least in one direction, and when the force sensor 103detects a reactive force, the end effecter 102 determines that a personis about to grasp and take out the grasped object 501, thus causingoperation of releasing the grasp force. Accordingly, when a person isabout to grasp and take out the object 501 grasped by the end effecter102, such handling of the person can be understood. It is possible torealize such control of releasing the grasp force as handing a thingfrom person over to person without strengthening the grasp force intocrushing the object in the hand.

As in the above, according to the present embodiment, the robot makes,in a self-controlled fashion, a determination that a person is about totake out an object grasped by the robot. When the object grasped by theend effecter is grasped and taken out by a person, the handling of theperson can be understood. It is possible to realize such control ofreleasing the grasp force as handing a thing from person over to personwithout strengthening the grasp force into crushing the object in thehand.

Meanwhile, in the case of determining that a person is about to take outthe object grasped by the robot, the fact thereof is alarmed. Thus, theobject can be taken out without anxiety.

2. Second Exemplary Embodiment

Embodiment 2 sets up a joint angle sensor 112 at the joint of the robotarm 101. In case a person notifies the robot of taking a grasped objectout of that, the robot releases the force controlling the robot arm 101to such an extent as not to be moved by a physical force, such asgravity, but to be freely moved by the application of an external force.When the grasped object is externally pulled out, it is detected thatthe robot joint has moved following it, thus effecting grasp release.Embodiment 2 is explained in the below by using FIG. 8.

FIG. 8 is a flowchart showing a process flow by a robot grasp controlapparatus according to embodiment 2.

At S401, the object-grasp determining section 106 determines a presenceor absence of grasping an object by the robot. In case an object is notgrasped, there is no need for release control of the end effecter 102and accordingly the process is immediately ended. In case an object isgrasped by the end effecter 102, the process proceeds to S402.

At S402, the release-instruction recognizing section 109 determines apresence or absence of an external instruction for releasing the endeffecter 102. In case there is an instruction for releasing the endeffecter 102, a release-instruction signal is sent to the arm controlsection 111 and grasp-force control section 108. Meanwhile, in casethere is no instruction for releasing the end effecter 102, the processis immediately ended.

At S403, receiving a release-instruction signal from therelease-instruction recognizing section 109, the arm control section 111lowers the rigidity of a servo motor constituting the joint so that thefinger of the robot arm 101 can be easily moved when a person takes outthe object. The arm control section 111, after lowering the rigidity ofthe servo motor, sends the alarm unit 110 with the information notifyingthe fact. The alarm unit 110 receives the information and issues analarm “Shoulders Released” or the like meaning the weakened rigidity ofthe robot arm 101 through the use of a voice or character display.

At S404, the sensor-value variate measuring section 105 observesmeasurement values of the joint-angle sensor 112 whereby, in casedetecting a deviation of finger position from a target value, it can bedetected that a person has taken out the grasped object. In the casethat the joint-angle sensor 112 of the robot arm 101 has a change amountequal to or greater than a threshold, the information of which is sentto the grasp-release determining section 107, and then the processproceeds to S405. In case the change amount is smaller than thethreshold at S404, the process proceeds to S406 where a lapse time isseen from lowering in the robot arm servo rigidity at the process ofS403, thereby determining whether or not a given time has elapsed. Incase a given time has elapsed, the process proceeds to S407, an alarmfor returning the robot arm servo rigidity to the former rigidity ismade by the alarm unit 110. Subsequently, the robot arm servo rigidityis returned to the state before lowering, and then the process is ended.Unless a given time has elapsed, the process returns to the beginning ofS404 to thereby repeat the process.

In the case that the grasp-release determining section 107 at theprocess of S404 receives the information the joint-angle sensor 112 hasa change amount equal to or greater than the threshold, the processproceeds to S405, to forward to the grasp-force control section 108 agrasp-force releasing signal as a signal instructing to release thegrasp force. Receiving the signal for releasing the grasp force from thegrasp-release determining section 107, the grasp-force control section108 first sends the alarm unit 110 with a signal for making an alarm.Receiving this, the alarm unit 110 issues an alarm “Release Hand” or thelike. Subsequently, the grasp force of the end effecter 102 is released,to end the process.

In embodiment 2, when the robot is actually operating, the process ofthe FIG. 8 flowchart is not satisfactorily done once but always executedat a unit time interval similarly to embodiment 1.

In embodiment 2, the joint-angle sensor 112 is provided at the joint ofthe robot arm 101. In case that the robot is informed of taking agrasped object therefrom, the robot releases the force controlling therobot arm 101 to such an extent as not to be moved by a physical force,such as gravity, but to be freely moved by the application of anexternal force. When the grasped object is externally pulled out, it isdetected that the robot joint has moved following it, thus releasing thegrasping.

Due to this, in the case that a person is to grasp the object beinggrasped in the end effecter 102 of the robot, the handling of the personcan be understood. It is possible to realize such control of releasingthe grasp force as handing a thing from person over to person withoutstrengthening the grasp force into crushing the object in the hand.

3. Third Exemplary Embodiment

Embodiment 3 is an embodiment that the robot grasp control apparatus ofthe invention is applied to the other than the human-type robot.

This embodiment is applicable to a robot in any form provided that it isa robot having, as a constituent element, a grasp unit 113 as describedin embodiments 1 and 2. For example, application is possible for ahuman-type robot having two arms and two legs and an arm-type robotcomprising an arm and a hand only. Furthermore, application is possiblefor an animal-type robot without limiting to the human type.

FIG. 9 shows the application to an animal-type robot having neither ahand nor an arm. An end effecter 901, for holding an object 904,corresponds to the mouth of the animal-type robot 903. A robot arm 902,for moving the end effecter 901, corresponds to the neck of theanimal-type robot 903.

Incidentally, although not shown in FIG. 9, the robot arm 902 isprovided with an arm control section 111 and a joint-angle sensor 112similarly to the robot arm 101 of FIG. 1. The end effecter 901 isprovided with a force sensor 103.

Likewise, although not shown in FIG. 9, the gravity compensating section104, the sensor-value variate measuring section 105, the object-graspdetermining section 106, the grasp-release determining section 107, thegrasp-force control section 108, the release-instruction recognizingsection 109 and the alarm unit 110 in FIG. 1 are arranged in a head orbody of the animal-type robot 903.

The robot arm 902, the arm control section 111, the joint-angle sensor112, the end effecter 901, the force sensor 103, the gravitycompensating section 104, the sensor-value variate measuring section105, the object-grasp determining section 106, the grasp-releasedetermining section 107, the grasp-force control section 108, therelease-instruction recognizing section 109 and the alarm unit 110 aresimilar in configuration and operation to those of Embodiments 1 and 2,and herein omitted of explanation.

EXPLANATION OF REFERENCES

-   101, 902 ROBOT ARM-   102, 901 END EFFECTER-   103 FORCE SENSOR-   104 GRAVITY COMPENSATING part-   105 SENSOR-VALUE VARIATE MEASURING part-   106 OBJECT-GRASP DETERMINING SECTION-   107 GRASP-RELEASE DETERMINING SECTION-   108 GRASP-FORCE CONTROL SECTION-   109 RELEASE-INSTRUCTION RECOGNIZING SECTION-   110 ALARM UNIT-   111 ALARM CONTROL SECTION-   112 JOINT-ANGLE SENSOR-   113 GRASP UNIT-   114 GRASPED-OBJECT EXTERNAL FORCE DEDUCING UNIT-   401 PRESSURE-PERCEIVING SENSOR-   402 LIGHT-EMITTING ELEMENT-   403 LIGHT-RECEIVING ELEMENT-   501, 904 OBJECT-   502 WALL-   903 ANIMAL-TYPE ROBOT

1. A method for controlling robot handling comprising: a) determining adirection of an external force acting upon an object, the external forceexclusive of a grasp force by a robot grasping the object; b)determining whether the direction of the external force corresponds to afirst direction or to a second direction, said second direction beingsubstantially downward; c) when the direction of the external forcecorresponds to the first direction, a) moving the robot in a directiondifferent from the first direction of the external force and b)releasing the grasped object if a reactive external force is detectedacting on the grasped object; and d) when the direction of the externalforce corresponds to the second direction, a) reducing the grasp forceon the grasped object and b) strengthening the grasp force on thegrasped object if a slippage of the grasped object is detected.
 2. Amethod for controlling robot handling according to claim 1, wherein stepb) includes: determining that the change in the external force is due toa request for releasing the grasped object when the change in theexternal force is equal to or greater than the predetermined threshold;and releasing the grasped object when the change in the external forceis determined to be due to the request for releasing the grasped object;determining, after releasing the grasped object in the releasing step,that the change in the external force is due to 1) the first conditionwhich is the delivery of the grasped object when a dynamic frictionalforce in a gravity direction caused by a downward movement of thegrasped object is not detected or 2) the second condition which is thenon-delivery of the grasped object when the dynamic frictional force inthe gravity direction caused by the downward movement of the graspedobject is detected.
 3. A method for controlling robot handling accordingto claim 1, further including: a step that attention is called to anoutside when the grasp-force relaxing signal for releasing the graspedobject is outputted.
 4. Apparatus for controlling robot handling, saidapparatus comprising: a determination unit for: a) determining adirection of an external force acting upon an object, the external forceexclusive of a grasp force by a robot grasping the object; and b)determining whether the direction of the external force corresponds to afirst direction or to a second direction, said second direction beingsubstantially downward; wherein when the direction of the external forcecorresponds to the first direction, a) moving the robot in a directiondifferent from the first direction of the external force and b)releasing the grasped object if a reactive external force is detectedacting on the grasped object; and wherein when the direction of theexternal force corresponds to the second direction, a) reducing thegrasp force on the grasped object and b) strengthening the grasp forceon the grasped object if a slippage of the grasped object is detected.5. Apparatus for controlling robot handling according to claim 4,wherein said determining whether the direction of the external forcecorresponds to said first direction or to said second directionincludes: determining that the change in the external force is due to arequest for releasing the grasped object when the change in the externalforce is equal to or greater than the predetermined threshold; andreleasing the grasped object when the change in the external force isdetermined to be due to the request for releasing the grasped object;determining, after releasing the grasped object in the releasing step,that the change in the external force is due to 1) the first conditionwhich is the delivery of the grasped object when a dynamic frictionalforce in a gravity direction caused by a downward movement of thegrasped object is not detected or 2) the second condition which is thenon-delivery of the grasped object when the dynamic frictional force inthe gravity direction caused by the downward movement of the graspedobject is detected.
 6. Apparatus for controlling robot handlingaccording to claim 4, wherein said determination unit calls: attentionto an outside when the grasp-force relaxing signal for releasing thegrasped object is outputted.